Driving behavior detection method and system, electronic equipment, medium and computer product
By obtaining the vehicle speed, acceleration and angular velocity, combined with preset thresholds and weighted summing algorithms, the problems of inaccurate and high cost of detection of driving behavior in the prior art are solved, and accurate detection of complex driving behavior is achieved.
Patent Information
- Application Number
- CN202411949272.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-26
- Publication Date
- 2025-03-18
AI Technical Summary
In the prior art, there are problems such as inaccurate detection of driving behavior, single means and high cost, and it is difficult to quickly and accurately judge complex driving behavior such as continuous lane change.
By obtaining vehicle speed, vehicle acceleration and vehicle angular velocity, combined with preset thresholds and weighted summing algorithms, driving behaviors, including speeding over bilateral speed bumps and obstacle collision behaviors.
It improves the accuracy of detection of complex driving behaviors, provides an accurate detection method for comprehensively judging vehicle driving behaviors, and reduces costs and resource requirements.
Smart Images
Figure CN119636757A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of intelligent driving technology, and in particular to a driving behavior detection method, system, electronic equipment, medium and computer product. Background Art
[0002] As the number of cars on the road increases, the road conditions become more crowded, and the driving difficulty of drivers increases, resulting in a gradual increase in the accident rate during driving. Therefore, the detection of driving behaviors, especially sudden acceleration, sudden deceleration, sharp turns, continuous lane changes and other extreme driving behaviors, can provide drivers with favorable auxiliary forces, thereby reducing the incidence of traffic accidents and improving the safety protection of drivers.
[0003] However, traditional driving behavior detection methods mainly detect simple logical behaviors such as sudden acceleration, sudden deceleration, and sharp turns, but there are still some more complex driving behaviors that are difficult to detect, such as continuous lane changes, etc. Therefore, traditional driving behavior detection methods cannot quickly and accurately judge the driver's driving behavior. In addition, in terms of detection methods, traditional driving behavior detection methods either have the problem of single detection means and indirect detection methods, or have the problem of high cost and large detection resource requirements. Summary of the invention
[0004] The technical problem to be solved by the present disclosure is to overcome the defects of the prior art, such as inaccurate detection of driving behavior, single means and high cost, and to provide a driving behavior detection method, system, electronic equipment, medium and computer product.
[0005] The present invention solves the above technical problems through the following technical solutions:
[0006] The present disclosure provides a driving behavior detection method, the driving behavior detection method comprising:
[0007] Obtain vehicle speed, vehicle acceleration and vehicle angular velocity;
[0008] Among them, the vehicle acceleration includes the acceleration in the direction of gravity; the vehicle angular velocity includes the angular velocity in the vehicle's moving direction and the angular velocity in the vehicle's lateral horizontal direction;
[0009] determining a driving behavior based on the vehicle speed, the vehicle acceleration, or the vehicle angular velocity;
[0010] Among them, driving behaviors include speeding over double-sided speed bumps and collision with obstacles.
[0011] Preferably, the step of determining the driving behavior according to the vehicle speed, the vehicle acceleration or the vehicle angular velocity comprises:
[0012] In response to the acceleration in the direction of gravity being greater than a preset acceleration, the driving behavior is determined as speeding over a double-sided speed bump.
[0013] Preferably, the step of determining the driving behavior according to the vehicle speed, the vehicle acceleration or the vehicle angular velocity comprises:
[0014] Obtaining an absolute value of a first angular velocity difference between a vehicle's lateral horizontal angular velocity and a first preset angular velocity;
[0015] In response to the absolute value of the first angular velocity difference being greater than a first threshold and the vehicle speed being greater than a second threshold, the driving behavior is determined as speeding over a double-sided speed bump.
[0016] Preferably, the first preset angular velocity is determined by weighted summation of the vehicle's lateral horizontal angular velocity and a historical first preset angular velocity.
[0017] Preferably, the step of determining the driving behavior according to the vehicle speed, the vehicle acceleration or the vehicle angular velocity comprises:
[0018] Obtaining an absolute value of a second angular velocity difference between the angular velocity of the vehicle in the traveling direction and a second preset angular velocity;
[0019] In response to the vehicle speed being greater than a second threshold and the absolute value of the second angular velocity difference being greater than a third threshold, determining the driving behavior as an obstacle collision behavior;
[0020] Among them, obstacle collision behavior includes speeding obstacle collision behavior or speeding over bumpy road surface behavior.
[0021] Preferably, the second preset angular velocity is determined by weighted summing the vehicle's traveling direction angular velocity and a historical second preset angular velocity;
[0022] and / or,
[0023] The driving behavior detection method also includes:
[0024] Obtain the vector value of the angular velocity of the vehicle's moving direction within a preset unit time;
[0025] In response to the continuous occurrence of vector values in the same direction, determining the obstacle collision behavior as a speeding over bumpy road behavior;
[0026] and / or,
[0027] In response to the alternating appearance of different direction vector values, the obstacle collision behavior is determined as an overspeed obstacle collision behavior.
[0028] The present disclosure also provides a driving behavior detection system, the driving behavior detection system comprising:
[0029] An acquisition module, used to acquire vehicle speed, vehicle acceleration and vehicle angular velocity;
[0030] Among them, the vehicle acceleration includes the acceleration in the direction of gravity; the vehicle angular velocity includes the angular velocity in the vehicle's moving direction and the angular velocity in the vehicle's lateral horizontal direction;
[0031] a determination module, configured to determine a driving behavior according to the vehicle speed, the vehicle acceleration or the vehicle angular velocity;
[0032] Among them, driving behaviors include speeding over double-sided speed bumps and collision with obstacles.
[0033] The present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and used to run on the processor, and the processor implements the above-mentioned driving behavior detection method when executing the computer program.
[0034] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the above-mentioned driving behavior detection method when executed by a processor.
[0035] The present disclosure also provides a computer program product, including a computer program, which implements the above-mentioned driving behavior detection method when executed by a processor.
[0036] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present disclosure.
[0037] The positive and progressive effects of this disclosure are:
[0038] The present disclosure can detect complex driving behaviors according to vehicle speed, vehicle acceleration or vehicle angular velocity, improve the accuracy of detecting driving behaviors by acquiring comprehensive speed information of the vehicle, and provide an accurate detection method for comprehensively judging vehicle driving behaviors. BRIEF DESCRIPTION OF THE DRAWINGS
[0039] Figure 1 A flowchart of a driving behavior detection method provided in Embodiment 1 of the present disclosure;
[0040] Figure 2 A schematic diagram of the speed direction of a driving behavior detection method provided in Example 1 of the present disclosure;
[0041] Figure 3 A schematic diagram of a vehicle running over an obstacle in a driving behavior detection method provided in Example 1 of the present disclosure;
[0042] Figure 4 A schematic diagram of a driving behavior detection method provided in Example 1 of the present disclosure showing a speeding situation when passing a single pit;
[0043] Figure 5 A schematic diagram of a driving behavior detection method provided in Example 1 of the present disclosure showing a situation of speeding over a speed bump on one side;
[0044] Figure 6 A schematic diagram of a driving behavior detection method provided in Embodiment 1 of the present disclosure showing a vehicle speeding and tilting over a speed bump;
[0045] Figure 7 A schematic diagram of the angular velocity vector value of the vehicle's traveling direction corresponding to the speeding obstacle collision behavior of a driving behavior detection method provided in Example 1 of the present disclosure;
[0046] Figure 8 A schematic diagram of the angular velocity vector value of the vehicle's traveling direction corresponding to the overspeeding on a bumpy road surface behavior of a driving behavior detection method provided in Example 1 of the present disclosure;
[0047] Fig. 9 A first flow chart of a specific example of a driving behavior detection method provided in Embodiment 1 of the present disclosure;
[0048] Fig.10 A second flow chart of a specific example of a driving behavior detection method provided in Embodiment 1 of the present disclosure;
[0049] Fig.11 A third flow chart of a specific example of a driving behavior detection method provided in Embodiment 1 of the present disclosure;
[0050] Fig.12 A fourth flow chart of a specific example of a driving behavior detection method provided in Embodiment 1 of the present disclosure;
[0051] Fig.13 A structural diagram of a driving behavior detection system provided in Embodiment 2 of the present disclosure;
[0052] Fig.14 This is a schematic diagram of the structure of an electronic device provided in Example 3 of the present disclosure. DETAILED DESCRIPTION
[0053] The present disclosure is further described below by way of examples, but the present disclosure is not limited to the scope of the examples.
[0054] Prefixes such as "first" and "second" are used in the embodiments of the present disclosure only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present disclosure does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "plurality" is two or more.
[0055] In the embodiments of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.
[0056] Example 1
[0057] This embodiment provides a driving behavior detection method. Figure 1 , the driving behavior detection method includes:
[0058] S1. Obtain vehicle speed, vehicle acceleration and vehicle angular velocity.
[0059] The vehicle acceleration includes the acceleration in the direction of gravity. The vehicle angular velocity includes the angular velocity in the vehicle's moving direction and the angular velocity in the vehicle's lateral horizontal direction. Figure 2 The acceleration in the direction of gravity is the acceleration in the vertical axis (Z axis). The upward direction pointing to the sky is positive, which is used to judge the vibration of the vehicle on the road. The angular velocity in the direction of the vehicle is the angle in the direction of the longitudinal axis (X axis). The angle in the direction of the vehicle's front is positive, which is used to judge the left and right roll of the vehicle. The angular velocity in the horizontal direction of the vehicle is the angular velocity in the direction of the horizontal axis (Y axis). The angle facing the left side of the front of the vehicle is positive, which is used to judge the front and rear pitch of the vehicle.
[0060] The vehicle speed can be obtained through GPS positioning equipment, laser radar based on target reference distance measurement, vehicle wheel speed conversion and other methods; the acceleration in the gravity direction can be obtained through the Z-axis acceleration sensor in the six-axis sensor, the angular velocity in the vehicle's moving direction can be obtained through the X-axis angular velocity sensor in the six-axis sensor, and the lateral horizontal angular velocity of the vehicle can be obtained through the Y-axis angular velocity sensor in the six-axis sensor.
[0061] S2. Determine the driving behavior according to the vehicle speed, the vehicle acceleration or the vehicle angular velocity.
[0062] Among them, driving behaviors include speeding over double-sided speed bumps and collision with obstacles.
[0063] In an optional embodiment, step S2 includes:
[0064] S211. In response to the acceleration in the direction of gravity being greater than a preset acceleration, the driving behavior is determined as speeding over a double-sided speed bump.
[0065] The preset acceleration is set according to the actual situation, and is set to 2 gravity accelerations in this embodiment.
[0066] In an optional implementation, step S2 further includes:
[0067] S221. Obtain an absolute value of a first angular velocity difference between a lateral horizontal angular velocity of the vehicle and a first preset angular velocity.
[0068] S222: In response to the absolute value of the first angular velocity difference being greater than a first threshold value and the vehicle speed being greater than a second threshold value, determining the driving behavior as speeding over a double-sided speed bump.
[0069] The first threshold and the second threshold are set according to actual conditions. In this embodiment, the first threshold is set to 10 dps (degrees / second) and the second threshold is set to 30 km / h (kilometers / hour).
[0070] In an optional implementation, the first preset angular velocity is determined by weighted summing the angular velocity of the vehicle in the lateral horizontal direction and a historical first preset angular velocity.
[0071] The following is a specific formula for determining the first preset angular velocity:
[0072] gyro_y'=a*gyro_y+(1-a)*gyro_y";
[0073] Among them, gyro_y' is used to represent the first preset angular velocity, gyro_y is used to represent the lateral horizontal angular velocity of the vehicle, gyro_y" is used to represent the historical first preset angular velocity, that is, the first preset angular velocity corresponding to the last time the lateral horizontal angular velocity of the vehicle was collected, and a is used to represent the weighting coefficient of the lateral horizontal angular velocity of the vehicle. In this embodiment, a can be set to 0.0013.
[0074] This implementation method uses the above-mentioned exponential smoothing algorithm to filter the background noise of normal vehicle driving, avoids false alarms of speeding over double-sided speed bumps, and improves the accuracy of detection.
[0075] In an optional implementation, step S2 further includes:
[0076] S231. Obtain an absolute value of a second angular velocity difference between the angular velocity of the vehicle in the traveling direction and a second preset angular velocity.
[0077] S232: In response to the vehicle speed being greater than the second threshold and the absolute value of the second angular velocity difference being greater than the third threshold, determining the driving behavior as an obstacle collision behavior.
[0078] The third threshold is set according to actual conditions. In this embodiment, the third threshold is set to 8 dps (degrees / second).
[0079] Among them, obstacle collision behavior includes overspeed obstacle collision behavior (i.e. Figure 3 Vehicles running over obstacles, such as Figure 4 The situation of speeding through a single pit and Figure 5 Overspeeding on one side over a speed bump) or overspeeding on a bumpy road (e.g. Figure 6 The vehicle is speeding and tilting over speed bumps or complex bumpy roads).
[0080] In an optional implementation, the second preset angular velocity is determined by weighted summing the vehicle's traveling direction angular velocity and a historical second preset angular velocity.
[0081] The following is a specific formula for determining the second preset angular velocity:
[0082] gyro_x'=b*gyro_x+(1-b)*gyro_x”;
[0083] Among them, gyro_x' is used to characterize the second preset angular velocity, gyro_x is used to characterize the angular velocity of the vehicle's traveling direction, gyro_x" is used to characterize the historical second preset angular velocity, that is, the second preset angular velocity corresponding to the last time the angular velocity of the vehicle's traveling direction was collected, and b is used to characterize the weighting coefficient of the angular velocity of the vehicle's traveling direction. In this embodiment, b can be set to 0.0013.
[0084] This embodiment uses the above-mentioned exponential smoothing algorithm to filter the background noise of normal vehicle driving, avoids false alarms of obstacle collision behavior, and improves the accuracy of detection.
[0085] In an optional implementation, the driving behavior detection method further includes:
[0086] S233: Obtain the vector value of the angular velocity of the vehicle's moving direction within a preset unit time.
[0087] The preset unit time is set according to actual conditions, and is set to 1 second in this embodiment.
[0088] S2341. In response to the continuous occurrence of vector values in the same direction, the obstacle collision behavior is determined as speeding over a bumpy road surface.
[0089] In an optional implementation, the driving behavior detection method further includes:
[0090] S2342: In response to the alternating appearance of different direction vector values, the obstacle collision behavior is determined as an overspeeding obstacle collision behavior.
[0091] For example, assuming the vehicle wheelbase is 5 meters and the vehicle speed is 30 km / h, the time difference between the front and rear wheels of the vehicle passing the same obstacle is 0.6 seconds.
[0092] like Figure 7 As shown, when the data sign of the angular velocity vector value of the vehicle's traveling direction within a unit time (Δt) of 1 second is positive, negative, positive, negative, or negative, positive, negative, positive, it is determined that an overspeeding obstacle collision occurs.
[0093] like Figure 8 As shown, when the data sign of the angular velocity vector value of the vehicle's traveling direction within a unit time (Δt) of 1 second is positive, negative, negative, positive, or negative, positive, positive, negative, it is determined that speeding occurs on a bumpy road surface.
[0094] in, Figure 7 and Figure 8 The horizontal axis is used to represent time, and the vertical axis is used to represent the angular velocity vector value in the vehicle's moving direction.
[0095] This embodiment comprehensively considers vehicle speed, vehicle acceleration or vehicle angular velocity to detect complex driving behaviors. By acquiring comprehensive speed information of the vehicle, the accuracy of detecting driving behaviors is improved, and an accurate detection method for comprehensively judging vehicle driving behaviors is provided.
[0096] A specific example is introduced below to explain the driving behavior detection method of this embodiment in detail.
[0097] This example can be integrated into the control software of a tracking device (tracker) or a vehicle sensor to detect and collect data for excessive driving behaviors. The detection vehicle objects are mainly four-wheeled cars or multi-wheeled trucks, and the detection environment is mainly speeding roads, expressways, and rural roads. The detected driving behaviors include speeding over speed bumps, speeding over potholes, and speeding over obstacles.
[0098] See also Fig. 9 , the detection workflow of this example is as follows:
[0099] S901, start detection.
[0100] S902, determine whether the detection function switch is turned on, if the detection function switch is not turned on, execute step S903; if the detection function switch is turned on, execute step S904.
[0101] S903: Detection terminates and returns to step S901.
[0102] S904. Determine whether the time interval from the last reported driving behavior is greater than the set time. If the time interval is greater than the set time, execute step S905; if the time interval is less than or equal to the set time, return to step S903.
[0103] By collecting data within a set time, the maximum acceleration or angular velocity within the window where the driving behavior occurs can be effectively obtained, providing data reference for more advanced applications.
[0104] S905. Collect vehicle speed data within a preset time. The preset time is set according to the actual situation, and is set to 0.3 seconds in this example. The vehicle speed data includes vehicle speed, vehicle acceleration, and vehicle angular velocity.
[0105] S906: Detect driving behavior based on the data.
[0106] S907. Report vehicle speed data and driving behavior.
[0107] S908: Detection ends.
[0108] Among them, step S906 has three specific work processes.
[0109] The first workflow, such as Fig.10 As shown:
[0110] S1001. Obtain the Z-axis acceleration value (i.e., the acceleration in the direction of gravity).
[0111] S1002, determine whether the Z-axis acceleration value is greater than the preset acceleration. If the Z-axis acceleration value is greater than the preset acceleration, execute step S907; if the Z-axis acceleration value is less than or equal to the preset acceleration, execute step S908.
[0112] The second workflow, such as Fig.11 As shown:
[0113] S1101. Obtain the Y-axis angular velocity (i.e., the lateral horizontal angular velocity of the vehicle) and the vehicle speed.
[0114] S1102, calculating an absolute value of a first angular velocity difference between an angular velocity in a lateral horizontal direction of the vehicle and a first preset angular velocity.
[0115] S1103. Determine whether the absolute value of the first angular velocity difference is greater than a first threshold value, and whether the vehicle speed is greater than a second threshold value. If the absolute value of the first angular velocity difference is greater than the first threshold value, and the vehicle speed is greater than the second threshold value, execute step S907; if the absolute value of the first angular velocity difference is less than or equal to the first threshold value, or the vehicle speed is less than or equal to the second threshold value, execute step S908.
[0116] The third workflow, such as Fig.12 As shown:
[0117] S1201. Obtain the X-axis angular velocity (ie, the angular velocity of the vehicle's traveling direction) and the vehicle speed.
[0118] S1202, determine whether the flag of event C (ie obstacle collision behavior classification) is triggered, if the flag is not triggered, execute step S1203; if the flag is triggered, execute step S1206.
[0119] S1203, calculating an absolute value of a second angular velocity difference between the angular velocity of the vehicle in the traveling direction and a second preset angular velocity.
[0120] S1204. Determine whether the absolute value of the second angular velocity difference is greater than the third threshold, and whether the vehicle speed is greater than the second threshold. If the absolute value of the second angular velocity difference is greater than the third threshold, and the vehicle speed is greater than the second threshold, execute step S1205; if the absolute value of the second angular velocity difference is less than or equal to the third threshold, or the vehicle speed is less than or equal to the second threshold, execute step S908.
[0121] S1205, trigger event C mark.
[0122] S1206. Collect data (including the angular velocity vector value of the vehicle's moving direction) and keep timing.
[0123] S1207, determine whether it is within the preset unit time (i.e. Fig.12 If the time is within the preset unit time, execute step S1208; if it is not within the preset unit time, return to step S1202.
[0124] S1208, determine whether the obstacle collision behavior is overspeeding over a bumpy road surface behavior (C1) or overspeeding obstacle collision behavior (C2), report the determination result, clear the flag of event C, and execute step S908.
[0125] It should be noted that important parameters such as reported driving behavior can be stored in a storage device, which can be read when these parameters need to be applied, and can also be updated through instructions, so that the method can be remotely upgraded and modified or dynamically adjusted in real time.
[0126] The driving data collected and counted in this example can be used to improve the vehicle auxiliary control system, and can also be used in technical fields such as real-time vehicle monitoring and reminders, and correction of user driving behavior.
[0127] Example 2
[0128] Corresponding to the aforementioned driving behavior detection method embodiment, the present disclosure also provides an embodiment of a driving behavior detection system.
[0129] This embodiment provides a driving behavior detection system. Fig.13 , the driving behavior detection system includes:
[0130] The acquisition module 1 is used to acquire the vehicle speed, vehicle acceleration and vehicle angular velocity.
[0131] The vehicle acceleration includes the acceleration in the direction of gravity. The vehicle angular velocity includes the angular velocity in the vehicle's moving direction and the angular velocity in the vehicle's lateral horizontal direction.
[0132] The determination module 2 is used to determine the driving behavior according to the vehicle speed, the vehicle acceleration or the vehicle angular velocity.
[0133] Among them, driving behaviors include speeding over double-sided speed bumps and collision with obstacles.
[0134] In an optional implementation, the determination module 2 is further configured to determine the driving behavior as speeding over a double-sided speed bump in response to the acceleration in the direction of gravity being greater than a preset acceleration.
[0135] In an optional implementation, the acquisition module 1 is further used to acquire an absolute value of a first angular velocity difference between the angular velocity in the lateral horizontal direction of the vehicle and a first preset angular velocity.
[0136] The determination module 2 is further configured to determine the driving behavior as speeding over a double-sided speed bump in response to the absolute value of the first angular velocity difference being greater than a first threshold and the vehicle speed being greater than a second threshold.
[0137] In an optional implementation, the first preset angular velocity is determined by weighted summing the angular velocity of the vehicle in the lateral horizontal direction and a historical first preset angular velocity.
[0138] In an optional implementation, the acquisition module 1 is further used to acquire an absolute value of a second angular velocity difference between the angular velocity of the vehicle in the traveling direction and a second preset angular velocity.
[0139] The determination module 2 is further configured to determine the driving behavior as an obstacle collision behavior in response to the vehicle speed being greater than a second threshold and the absolute value of the second angular velocity difference being greater than a third threshold.
[0140] Among them, obstacle collision behavior includes speeding obstacle collision behavior or speeding over bumpy road surface behavior.
[0141] In an optional implementation, the second preset angular velocity is determined by weighted summing the vehicle's traveling direction angular velocity and a historical second preset angular velocity.
[0142] In an optional implementation, the acquisition module 1 is further used to acquire the vector value of the angular velocity of the vehicle's moving direction within a preset unit time.
[0143] The determination module 2 is used to determine the obstacle collision behavior as speeding over a bumpy road surface behavior in response to the continuous occurrence of vector values in the same direction.
[0144] In an optional implementation, the determination module 2 is further configured to determine the obstacle collision behavior as an overspeed obstacle collision behavior in response to the alternating appearance of different direction vector values.
[0145] As for the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The system embodiment described above is only illustrative, in which the units described as separate components may or may not be physically separated, and the components as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the disclosed solution.
[0146] Example 3
[0147] Fig.14 This is a structural schematic diagram of an electronic device shown in an example embodiment of the present disclosure, the electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor, and when the processor executes the computer program, the driving behavior detection method described in any of the above embodiments is implemented. Fig.14 The electronic device 140 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.
[0148] like Fig.14 As shown, the electronic device 140 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 140 may include, but are not limited to: the at least one processor 141, the at least one memory 142, and a bus 143 connecting different system components (including the memory 142 and the processor 141).
[0149] The bus 143 includes a data bus, an address bus, and a control bus.
[0150] The memory 142 may include a volatile memory, such as a random access memory (RAM) 1421 and / or a cache memory 1422 , and may further include a read-only memory (ROM) 1423 .
[0151] Memory 142 may also include a program tool 1425 (or utility) having a set (at least one) of program modules 1424, such program modules 1424 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.
[0152] The processor 141 executes various functional applications and data processing by running the computer program stored in the memory 142, such as the driving behavior detection method provided in any of the above embodiments.
[0153] The electronic device 140 may also communicate with one or more external devices 144 (e.g., keyboards, pointing devices, etc.). Such communication may be performed via an input / output (I / O) interface 145. Furthermore, the electronic device 140 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 146. As shown, the network adapter 146 communicates with other modules of the electronic device 140 via a bus 143. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 140, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.
[0154] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.
[0155] Example 4
[0156] The embodiments of the present disclosure also provide a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the driving behavior detection method provided in any of the above embodiments is implemented.
[0157] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.
[0158] Example 5
[0159] The embodiment of the present disclosure also provides a computer program product, including a computer program, which implements any of the above-mentioned driving behavior detection methods when executed by a processor.
[0160] Among them, the program code for executing the computer program product of the present disclosure can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.
[0161] Although the specific embodiments of the present disclosure are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present disclosure is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present disclosure, but these changes and modifications all fall within the protection scope of the present disclosure.
Claims
1. A driving behavior detection method, characterized in that: The driving behavior detection method comprises: Obtain vehicle speed, vehicle acceleration and vehicle angular velocity; Among them, the vehicle acceleration includes the acceleration in the direction of gravity; the vehicle angular velocity includes the angular velocity in the vehicle's moving direction and the angular velocity in the vehicle's lateral horizontal direction; determining a driving behavior based on the vehicle speed, the vehicle acceleration, or the vehicle angular velocity; Among them, driving behaviors include speeding over double-sided speed bumps and collision with obstacles.
2. The driving behavior detection method according to claim 1, characterized in that: The step of determining the driving behavior according to the vehicle speed, the vehicle acceleration or the vehicle angular velocity comprises: In response to the acceleration in the direction of gravity being greater than a preset acceleration, the driving behavior is determined as speeding over a double-sided speed bump.
3. The driving behavior detection method according to claim 1, characterized in that: The step of determining the driving behavior according to the vehicle speed, the vehicle acceleration or the vehicle angular velocity comprises: Obtaining an absolute value of a first angular velocity difference between a vehicle's lateral horizontal angular velocity and a first preset angular velocity; In response to the absolute value of the first angular velocity difference being greater than a first threshold and the vehicle speed being greater than a second threshold, the driving behavior is determined as speeding over a double-sided speed bump.
4. The driving behavior detection method according to claim 3, characterized in that: The first preset angular velocity is determined by weighted summing the vehicle's lateral horizontal angular velocity and a historical first preset angular velocity.
5. The driving behavior detection method according to claim 1, characterized in that: The step of determining the driving behavior according to the vehicle speed, the vehicle acceleration or the vehicle angular velocity comprises: Obtaining an absolute value of a second angular velocity difference between the angular velocity of the vehicle in the traveling direction and a second preset angular velocity; In response to the vehicle speed being greater than a second threshold and the absolute value of the second angular velocity difference being greater than a third threshold, determining the driving behavior as an obstacle collision behavior; Among them, obstacle collision behavior includes speeding obstacle collision behavior or speeding over bumpy road surface behavior.
6. The driving behavior detection method according to claim 5, characterized in that: The second preset angular velocity is determined by weighted summing the vehicle's traveling direction angular velocity and a historical second preset angular velocity; and / or, The driving behavior detection method further comprises: Obtain the vector value of the angular velocity of the vehicle's moving direction within a preset unit time; In response to the continuous occurrence of vector values in the same direction, determining the obstacle collision behavior as a speeding over bumpy road behavior; and / or, In response to the alternating appearance of different direction vector values, the obstacle collision behavior is determined as an overspeed obstacle collision behavior.
7. A driving behavior detection system, characterized in that: The driving behavior detection system comprises: An acquisition module, used to acquire vehicle speed, vehicle acceleration and vehicle angular velocity; Among them, the vehicle acceleration includes the acceleration in the direction of gravity; the vehicle angular velocity includes the angular velocity in the vehicle's moving direction and the angular velocity in the vehicle's lateral horizontal direction; a determination module, configured to determine a driving behavior according to the vehicle speed, the vehicle acceleration or the vehicle angular velocity; Among them, driving behaviors include speeding over double-sided speed bumps and collision with obstacles.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, characterized in that: When the processor executes the computer program, the driving behavior detection method according to any one of claims 1 to 6 is implemented.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the driving behavior detection method according to any one of claims 1 to 6 is implemented.
10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the driving behavior detection method according to any one of claims 1 to 6 is implemented.